Marcin Odelga

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Equipped with four actuators, quadrotor Unmanned Aerial Vehicles belong to the family of underactuated systems. The lateral motion of such platforms is strongly coupled with their orientation and consequently it is not possible to track an arbitrary 6D trajectory in space. In this paper, we propose a novel quadrotor design in which the tilt angles of the(More)
In this paper, we present a collision-free indoor navigation algorithm for teleoperated multirotor Unmanned Aerial Vehicles (UAVs). Assuming an obstacle rich environment, the algorithm keeps track of detected obstacles in the local surroundings of the robot. The detection part of the algorithm is based on measurements from an RGB-D camera and a(More)
In this paper, we present a hardware-inthe-loop simulation setup for multi-UAV systems. With our setup we are able to command the robots simulated in Gazebo, a popular open source ROS-enabled physical simulator, using computational units that are embedded on our quadrotor UAVs. Hence, we can test in simulation not only the correct execution of algorithms,(More)
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